version: 66.11
glider: 167
mission: 14
dive: 10
start: 10 17 112 1 8 8
data:
$ID,167
$MISSION,14
$DIVE,10
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1050
$D_NO_BLEED,500
$D_BOOST,120
$T_BOOST,4
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,330
$T_MISSION,380
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-8
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-8
$MAX_BUOY,200
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,52251
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8500004e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,4736
$TGT_DEFAULT_LON,-12218
$TGT_AUTO_DEFAULT,0
$SM_CC,425
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,1
$NOCOMM_ACTION,163
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,5
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-968485.81
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,134
$PITCH_MAX,3944
$C_PITCH,2760
$PITCH_DBAND,0.1
$PITCH_CNV,0.0031256729
$P_OVSHOOT,0.039999999
$PITCH_GAIN,40
$PITCH_TIMEOUT,19
$PITCH_AD_RATE,165
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.015
$PITCH_ADJ_DBAND,1
$ROLL_MIN,187
$ROLL_MAX,3764
$ROLL_DEG,40
$C_ROLL_DIVE,2100
$C_ROLL_CLIMB,2050
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,42
$R_STBD_OVSHOOT,42
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0.02
$VBD_MIN,460
$VBD_MAX,3960
$C_VBD,2968
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00039999999
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$CF8_MAXERRORS,0
$AH0_24V,150
$AH0_10V,110
$MINV_24V,22
$MINV_10V,9.5
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-16.305099
$PRESSURE_SLOPE,0.0001158971
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,4
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,50
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,0
$ALTIM_PING_DEPTH,500
$ALTIM_PING_DELTA,50
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$XPDR_VALID,0
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,-1
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,1
$LOGGERDEVICE1,53
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,97
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043364335
$SEABIRD_T_H,0.00062881975
$SEABIRD_T_I,2.1970176e-05
$SEABIRD_T_J,2.0625448e-06
$SEABIRD_C_G,-9.8829851
$SEABIRD_C_H,1.104416
$SEABIRD_C_I,-0.0016111456
$SEABIRD_C_J,0.00020720487
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$GPS1,171012,010035,2140.382,12103.257,31,0.8,31,-3.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.47
$_SM_ANGLEo,-66.8
$GPS2,171012,010741,2140.362,12103.221,5,0.8,5,-3.1
$SPEED_LIMITS,0.173,0.296
$TGT_NAME,N1
$TGT_LATLONG,2303.600,12125.840
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.000,0.000
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,2.0,158903,-15.7,-10.000,-18.65
$D_GRID,663
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors,pitch_volts,roll_volts,vbd_volts
$STATE,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-0.47,-195.5,0.0,0.0,0,96,0.00,0.00,-75.32,0.000,2,0.000,0.000,112,2065,2460,0,0,0,0,0,0,28.83,28.83,28.83
$GC,99,-0.47,-195.5,3.2,-6.3,13,149,9.73,2.30,-30.80,0.000,4,0.230,0.063,2600,3519,3766,0,0,0,0,0,0,25.84,26.14,26.51
$GC,257,-0.47,-195.5,25.5,-16.7,42,263,0.00,2.10,0.00,0.000,6,0.000,0.021,2600,2072,3767,0,0,0,0,0,0,28.83,26.34,28.83
$GC,580,-0.47,-195.5,87.6,-19.5,65,586,0.00,2.22,0.00,0.000,4,0.000,0.047,2600,3505,3767,0,0,0,0,0,0,28.83,26.41,28.83
$GC,696,-0.56,-195.5,97.7,-8.0,70,701,0.00,2.03,0.00,0.000,6,0.000,0.021,2600,2084,3767,0,0,0,0,0,0,28.83,26.55,28.83
$GC,1009,-0.71,-195.5,120.0,-6.8,86,1015,0.17,2.17,0.00,0.000,4,0.065,0.044,2489,3510,3768,0,0,0,0,0,0,26.66,26.53,28.83
$GC,1120,-0.68,-195.5,133.1,-13.6,91,1127,0.17,2.00,0.00,0.000,6,0.134,0.022,2541,2101,3768,0,0,0,0,0,0,26.44,26.64,28.83
$GC,1440,-0.77,-195.5,161.9,-9.9,107,1446,0.00,2.12,0.00,0.000,4,0.000,0.046,2541,3499,3769,0,0,0,0,0,0,28.83,26.59,28.83
$GC,1519,-0.88,-195.5,167.4,-8.7,110,1526,0.17,2.00,0.00,0.000,6,0.062,0.021,2445,2087,3769,0,0,0,0,0,0,26.69,26.70,28.83
$GC,1824,-0.85,-195.5,209.9,-14.0,126,1830,0.12,2.17,0.00,0.000,4,0.153,0.045,2480,3500,3769,0,0,0,0,0,0,26.55,26.62,28.83
$GC,1919,-0.87,-195.5,221.9,-14.2,130,1924,0.00,2.00,0.00,0.000,6,0.000,0.021,2480,2102,3769,0,0,0,0,0,0,28.83,26.73,28.83
$GC,2233,-0.89,-195.5,260.8,-9.6,146,2239,0.00,2.15,0.00,0.000,4,0.000,0.049,2480,3508,3767,0,0,0,0,0,0,28.83,26.63,28.83
$GC,2397,-0.93,-195.5,273.9,-7.5,154,2403,0.00,2.03,0.00,0.000,6,0.000,0.022,2480,2099,3766,0,0,0,0,0,0,28.83,26.74,28.83
$GC,2722,-0.96,-195.5,304.3,-10.2,170,2727,0.00,2.15,0.00,0.000,4,0.000,0.048,2480,3505,3764,0,0,0,0,0,0,28.83,26.64,28.83
$GC,2859,-1.01,-195.5,316.8,-9.5,176,2867,0.12,2.03,0.00,0.000,6,0.083,0.022,2418,2083,3763,0,0,0,0,0,0,26.71,26.77,28.83
$GC,3165,-0.97,-195.5,358.5,-14.7,192,3170,0.00,2.17,0.00,0.000,4,0.000,0.049,2413,3502,3761,0,0,0,0,0,0,28.83,26.65,28.83
$GC,3274,-0.92,-195.5,373.4,-14.7,197,3279,0.17,2.00,0.00,0.000,6,0.148,0.023,2462,2100,3760,0,0,0,0,0,0,26.49,26.76,28.83
$GC,3594,-0.95,-195.5,401.8,-7.2,213,3599,0.00,2.17,0.00,0.000,4,0.000,0.054,2462,3507,3757,0,0,0,0,0,0,28.83,26.63,28.83
$GC,3746,-0.97,-195.5,416.5,-10.4,220,3751,0.00,2.03,0.00,0.000,6,0.000,0.023,2462,2091,3757,0,0,0,0,0,0,28.83,26.77,28.83
$GC,4060,-0.99,-195.5,449.8,-5.9,236,4067,0.00,2.17,-0.08,0.000,4,0.000,0.064,2462,3494,3783,0,0,0,0,0,0,28.83,26.63,26.20
$GC,4170,-1.03,-195.5,456.2,-6.2,241,4176,0.10,2.00,0.00,0.000,6,0.099,0.023,2412,2097,3783,0,0,0,0,0,0,26.69,26.77,28.83
$GC,4489,-1.01,-195.5,492.2,-12.7,257,4495,0.00,2.17,0.00,0.000,4,0.000,0.057,2413,3497,3780,0,0,0,0,0,0,28.83,26.44,28.83
$GC,4536,-0.98,-195.5,498.6,-14.0,259,4543,0.12,2.00,0.00,0.000,6,0.158,0.024,2445,2100,3780,0,0,0,0,0,0,26.51,26.76,28.83
$GC,4856,-1.00,-195.5,537.5,-8.6,275,4862,0.00,2.20,0.00,0.000,4,0.000,0.054,2444,3504,3778,0,0,0,0,0,0,28.83,26.61,28.83
$GC,4909,-1.02,-195.5,541.7,-8.9,277,4915,0.00,2.03,0.00,0.000,6,0.000,0.024,2445,2095,3778,0,0,0,0,0,0,28.83,26.76,28.83
$GC,5224,-1.04,-195.5,571.4,-6.2,293,5226,0.00,0.00,0.00,0.000,6,0.000,0.000,2445,2095,3776,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5545,-1.06,-195.5,611.4,-14.2,308,5551,0.00,2.17,0.00,0.000,4,0.000,0.055,2445,3492,3773,0,0,0,0,0,0,28.83,26.59,28.83
$GC,5654,-1.09,-195.5,625.5,-14.6,311,5660,0.12,2.03,0.00,0.000,6,0.088,0.025,2382,2103,3772,0,0,0,0,0,0,26.68,26.75,28.83
$STATE,5880,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5881,begin apogee
$GC,5888,-0.20,0.0,668.1,-18.4,319,6065,0.93,0.00,164.68,0.970,6,0.128,0.000,2686,2100,2956,0,0,0,0,0,0,26.39,28.83,24.23
$STATE,6067,end apogee,CONTROL_FINISHED_OK
$STATE,6067,begin climb
$GC,6069,0.47,195.5,684.3,0.0,325,6251,0.57,2.33,170.52,0.916,4,0.038,0.057,2933,3445,2157,0,0,0,0,0,0,25.20,24.79,24.12
$GC,6384,0.35,195.5,665.2,13.1,335,6390,0.22,2.12,0.00,0.000,6,0.161,0.031,2876,2062,2144,0,0,0,0,0,0,25.56,25.72,28.83
$GC,6706,0.32,221.1,630.2,9.1,346,6734,0.00,2.25,16.15,0.823,4,0.000,0.051,2877,3452,2063,0,0,0,0,1,0,28.83,25.84,24.93
$GC,6808,0.30,247.7,621.5,9.1,349,6846,0.00,2.12,23.27,1.060,6,0.000,0.027,2882,2022,1959,0,0,0,0,1,0,28.83,26.12,24.30
$GC,7159,0.27,247.7,580.3,13.8,363,7166,0.12,2.25,1.55,0.181,4,0.151,0.044,2843,3452,1955,0,0,0,0,0,0,26.08,26.13,25.91
$GC,7295,0.27,247.7,565.1,11.4,369,7301,0.00,2.08,0.00,0.000,6,0.000,0.025,2847,2035,1966,0,0,0,0,0,0,28.83,26.31,28.83
$GC,7609,0.31,288.2,533.7,8.6,385,7663,0.00,2.35,39.75,1.382,4,0.000,0.046,2847,3445,1795,0,0,0,0,1,0,28.83,25.18,24.07
$GC,7776,0.36,346.3,520.7,8.0,393,7846,0.00,2.08,56.38,1.454,6,0.000,0.027,2847,2057,1555,0,0,0,0,1,0,28.83,25.88,23.70
$GC,8155,0.47,463.3,495.8,6.0,412,8278,0.15,2.40,107.60,1.502,4,0.073,0.045,2930,3448,1079,0,0,0,0,1,0,26.11,24.61,23.59
$GC,8432,0.47,463.3,455.6,17.9,425,8437,0.00,2.12,0.00,0.000,6,0.000,0.028,2935,2046,1080,0,0,0,0,0,0,28.83,25.77,28.83
$GC,8745,0.47,463.3,402.8,14.8,441,8751,0.00,2.17,0.00,0.000,4,0.000,0.044,2934,3449,1077,0,0,0,0,0,0,28.83,26.14,28.83
$GC,8829,0.47,463.3,390.6,14.7,445,8835,0.00,2.10,0.00,0.000,6,0.000,0.027,2934,2037,1077,0,0,0,0,0,0,28.83,26.25,28.83
$GC,9153,0.47,463.3,350.1,12.2,461,9158,0.00,2.17,0.00,0.000,4,0.000,0.044,2934,3450,1076,0,0,0,0,0,0,28.83,26.35,28.83
$GC,9199,0.47,463.3,344.5,12.7,463,9205,0.00,2.08,0.00,0.000,6,0.000,0.027,2934,2040,1076,0,0,0,0,0,0,28.83,26.43,28.83
$GC,9518,0.47,463.3,307.9,12.6,479,9524,0.00,2.17,0.00,0.000,4,0.000,0.044,2934,3459,1076,0,0,0,0,0,0,28.83,26.44,28.83
$GC,9565,0.47,463.3,302.4,12.6,481,9570,0.00,2.08,0.00,0.000,6,0.000,0.027,2935,2038,1075,0,0,0,0,0,0,28.83,26.52,28.83
$GC,9883,0.47,463.3,256.4,15.2,497,9888,0.00,2.15,0.00,0.000,4,0.000,0.044,2934,3451,1075,0,0,0,0,0,0,28.83,26.51,28.83
$GC,9931,0.47,463.3,249.0,15.7,499,9936,0.00,2.05,0.00,0.000,6,0.000,0.026,2934,2040,1075,0,0,0,0,0,0,28.83,26.58,28.83
$GC,10250,0.50,474.7,204.8,9.6,515,10274,0.00,2.17,13.00,0.838,4,0.000,0.043,2934,3449,1022,0,0,0,0,1,0,28.83,26.27,24.94
$GC,10358,0.57,558.7,197.0,7.1,520,10443,0.00,2.05,73.20,1.274,6,0.000,0.024,2934,2023,689,0,0,0,0,1,0,28.83,26.43,23.91
$GC,10756,0.68,614.6,159.9,8.1,540,10820,0.12,2.28,57.17,0.640,4,0.080,0.041,3009,3449,453,0,0,0,0,0,0,26.13,25.34,24.81
$GC,10908,0.68,614.6,142.2,12.7,547,10913,0.00,2.08,0.00,0.000,6,0.000,0.026,3010,2067,436,0,0,0,0,0,0,28.83,25.82,28.83
$GC,11221,0.73,614.6,104.2,12.0,563,11222,0.00,0.00,0.00,0.000,6,0.000,0.000,3010,2065,433,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11523,0.82,614.6,61.4,12.2,578,11529,0.00,2.15,0.00,0.000,4,0.000,0.042,3010,3453,432,0,0,0,0,0,0,28.83,26.34,28.83
$GC,11608,0.91,614.6,51.7,11.3,582,11614,0.12,2.05,0.00,0.000,6,0.080,0.021,3088,2018,432,0,0,0,0,0,0,26.41,26.45,28.83
$STATE,11894,end climb,SURFACE_DEPTH_REACHED
$STATE,11894,begin surface coast
$FINISH,0.7,1.009203
$STATE,11911,end surface coast,CONTROL_FINISHED_OK
$STATE,11911,begin surface
$SM_CCo,11990,0.00,0.000,0,0,431,622.33
$SM_GC,1.51,7.53,0.12,0.00,0.031,0.073,0.000,118,2112,431,-8.19,-1.13,622.33,0,0,0,0,0,0,26.48,26.57,28.83
$IRIDIUM_FIX,2134.17,12103.79,161012,212132
$TT8_MAMPS,0.027713,0.027713
$HUMID,56.37
$INTERNAL_PRESSURE,9.41442
$TCM_TEMP,25.70
$XPDR_PINGS,14
$24V_AH,23.6,9.728
$10V_AH,9.9,4.064
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,20.800,106.600,723.275,0.000,0.000,0.000,0.000,249.875,4.500,0.000,5.919,2123.047,7213.386,757.251,2051.754,273.557,0.000,2026.081,0.000,1705.336,0.000,8.272,0.000
$DEVICE_MAMPS,229.500,72.675,1501.695,0.000,0.000,0.000,0.000,133.110,420.000,0.000,26.220,14.710,2.190,14.710,37.930,44.670,0.000,16.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,11931.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,23.014,0.000,0.000,0.000
$MEM,323844
$DATA_FILE_SIZE,23393,625
$CAP_FILE_SIZE,154511,0
$CFSIZE,260165632,248475648
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,7,1,0
$CURRENT,0.203,181.5,1
$GPS,171012,042905,2141.102,12103.076,25,1.3,25,-3.1